Tracking apparatus

摘要

According to one embodiment, a tracking apparatus includes a spherical body, three or more spherical driving units, a hold unit, a control unit. The three or more spherical driving units are connected to the movable body and kept in contact with portions of the spherical body to move the movable body in a desired direction. The hold unit connects the third gimbal to the movable body, and holds the spherical driving units pressed against the spherical body. The control unit controls the spherical driving units to track the target, using the first to fourth rotation angles.

主权项

1. A tracking apparatus comprising:
a spherical body; a first gimbal supported by a bottom of the spherical body and configured to rotate about a first gimbal axis extending vertical; a second gimbal supported by the first gimbal and configured to rotate about a second gimbal axis perpendicular to the first gimbal axis; a third gimbal supported by the second gimbal and configured to rotate about a third gimbal axis perpendicular to the second gimbal axis at an intersection between the first gimbal axis and the second gimbal axis; a movable body supported by the third gimbal and configured to rotate about a fourth gimbal axis perpendicular to the third gimbal axis; three or more spherical driving units connected to the movable body and kept in contact with portions of the spherical body to move the movable body in a desired direction; a hold unit connecting the third gimbal to the movable body, and holding the spherical driving units pressed against the spherical body; an identifying unit supported by the movable body and configured to output position data of a target; a first angle sensor configured to detect a first rotation angle of the first gimbal relative to the bottom; a second angle sensor configured to detect a second rotation angle of the second gimbal relative to the first gimbal; a third angle sensor configured to detect a third rotation angle of the third gimbal relative to the second gimbal; a fourth angle sensor configured to detect a fourth rotation angle of the movable body relative to the third gimbal; a rotation spring driving unit configured to return the third gimbal to a center of a rotation range of the third gimbal; and a control unit configured to control the spherical driving units to track the target, using the first to fourth rotation angles.